Panasonic MINAS-A5NL Series - 7-7 Feedforward function; 7-7-1 Feedforward function validation parameter and command area to be used

No. SX-DSV02310 - 147 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
7-7 Feedforward function
Th
e host controller can transmit high resolution velocity feedforward (VFF) and thrust feedforward (TFF).
7-7-1 Feedforward function validation parameter and command area to be used
 M
ain command: Common to 16-byte and 32-byte modes
Byte bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
0 C/R Update_Counter MAC-ID
1 TMG_CNT Command_Code
23 Control_Bits
47 Command_Data1
811 Command_Data2
1215 Command_Data3
Class No. Attribute
Parameter
title
Setup
range
Unit Description
7 35 C
RTEX command
setup 1
02 -
Set up non-cyclic command Command_Data3.
0: Disable
1: Velocity feedforward
(Command unit/s) or mm/s)
2: Thrust feedforward (0.1%)
Note: For non-cyclic command that uses Command_Data3 area as Setting_Data, disable is selected because
feedforward data cannot be transmitted (see table below), previously received value is used for operation.
If this operation causes problem, use Sub_Command_Data2/3 in 32-byte mode area shown on the next
page.
When Pr.7.35 = 0 (Disable feedforward), use Command_Data3 area as Setting_Data3, and set value to 0 as
specified by each command when non-cyclic command is not used (see the table below). When setup is not
0, Command error (0032h) will be returned.
Command_Data3 Non-cyclic
command
Type_Code
FF
transmission
Enable/disable
Pr7.35 = 0 Pr7.35= 1 Pr7.35 = 2
Normal 0h All - 
FF Disable
(set it as 0)
Velocity FF Thrust FF
Reset 1h All - 
FF Disable
(set it as 0)
Velocity FF Thrust FF
System ID 2h All - 
FF Disable
(set it as 0)
Velocity FF Thrust FF
021h/
022h
Actual
position/
command
position set

Setting_Data
(setting position)
Setting_Data
(setting position)
Setting_Data
(setting position)
Homing 4h
Others - 
FF Disable
(set it as 0)
Velocity FF Thrust FF
Alarm 5h All - 
FF Disable
(set it as 0)
Velocity FF Thrust FF
011h
Parameter
writing

Setting_Data
(parameter value)
Setting_Data
(parameter value)
Setting_Data
(parameter value)
Parameter 6h
Others - 
FF Disable
(set it as 0)
Velocity FF Thrust FF
Profile 7h All - 
Setting_Data
(target velocity)
Setting_Data
(target velocity)
Setting_Data
(target velocity)
Monitor Ah All - 
FF Disable
(set it as 0)
Velocity FF Thrust FF